计及环境特征的刚-柔机械臂动力学模型及其控制策略  

Dynamics Model and Control Strategy of the Rigid-Flexible Arm in Consideration of Environment Characteristic

作　　者：贠今天[1] 王树新[1] 丁杰男[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《天津大学学报（自然科学与工程技术版）》2005年第3期253-257,共5页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(E50405018);博士点基金资助项目(20030056030).

摘　　要：为了实现柔性机械臂主动柔性控制,基于Kane方程推导建立在惯性参考坐标系中的刚柔机械臂的非线性动力学模型,并利用假设模态的方法对方程进行离散.在对刚柔机械臂进行主动柔顺控制时,柔性机械臂要受到未确定外部环境的约束,因此,建立了计及环境特征的一般柔性多体系统动力学模型以及计及环境特征的刚柔机械臂动力学模型,并分析研究了刚柔机械臂主动柔顺控制策略.In order to realize the active compliant control of flexible arm, based on Kane equation, nonlinear dynamics model of rigid-flexible arm in the cartesian coordinate system was established, and the equations were discreted by the method of assumption mode. For general flexible multi-body system in consideration of environment characteristic, environment characteristic could be seen as external constraint to flexible multi-body system. Therefore dynamics equations were set up for constrained general flexible multi-body system and also for the rigid-flexible arm, and the active compliant control strategy for the rigid-flexible arm was also studied.

关 键 词：刚-柔机械臂 环境特征 约束 动力学模型 主动柔顺 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]